{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T14:34:11Z","timestamp":1777646051081,"version":"3.51.4"},"reference-count":45,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2022,5,24]],"date-time":"2022-05-24T00:00:00Z","timestamp":1653350400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European Union Horizon 2020 Research and Innovation Program","award":["731540"],"award-info":[{"award-number":["731540"]}]},{"name":"European Union Horizon 2020 Research and Innovation Program","award":["ANR-20-CE33-0004"],"award-info":[{"award-number":["ANR-20-CE33-0004"]}]},{"DOI":"10.13039\/501100001665","name":"French Research Agency (ANR)","doi-asserted-by":"publisher","award":["731540"],"award-info":[{"award-number":["731540"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001665","name":"French Research Agency (ANR)","doi-asserted-by":"publisher","award":["ANR-20-CE33-0004"],"award-info":[{"award-number":["ANR-20-CE33-0004"]}],"id":[{"id":"10.13039\/501100001665","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Improving the ergonomy of working environments is essential to reducing work-related musculo-skeletal disorders. We consider real-time ergonomic feedback a key technology for achieving such improvements. To this end, we present supportive tools for online evaluation and visualization of strenuous efforts and postures of a worker, also when physically interacting with a robot. A digital human model is used to estimate human kinematics and dynamics and visualize non-ergonomic joint angles, based on the on-line data acquired from a wearable motion tracking device.<\/jats:p>","DOI":"10.3390\/s22113981","type":"journal-article","created":{"date-parts":[[2022,5,25]],"date-time":"2022-05-25T00:14:14Z","timestamp":1653437654000},"page":"3981","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Latent Ergonomics Maps: Real-Time Visualization of Estimated Ergonomics of Human Movements"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2135-5065","authenticated-orcid":false,"given":"Lorenzo","family":"Vianello","sequence":"first","affiliation":[{"name":"Universit\u00e9 de Lorraine, CNRS, Inria, LORIA, F-54000 Nancy, France"},{"name":"Universit\u00e9 de Lorraine, CNRS, CRAN, F-54000 Nancy, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2506-8189","authenticated-orcid":false,"given":"Waldez","family":"Gomes","sequence":"additional","affiliation":[{"name":"Universit\u00e9 de Lorraine, CNRS, Inria, LORIA, F-54000 Nancy, France"},{"name":"CIAMS, Universit\u00e9 Paris-Saclay, F-91405 Orsay, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Freek","family":"Stulp","sequence":"additional","affiliation":[{"name":"Department of Cognitive Robotics, Institute of Robotics and Mechatronics, German Aerospace Center (DLR), 82234 Wessling, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alexis","family":"Aubry","sequence":"additional","affiliation":[{"name":"Universit\u00e9 de Lorraine, CNRS, CRAN, F-54000 Nancy, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5762-4349","authenticated-orcid":false,"given":"Pauline","family":"Maurice","sequence":"additional","affiliation":[{"name":"Universit\u00e9 de Lorraine, CNRS, Inria, LORIA, F-54000 Nancy, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5349-9835","authenticated-orcid":false,"given":"Serena","family":"Ivaldi","sequence":"additional","affiliation":[{"name":"Universit\u00e9 de Lorraine, CNRS, Inria, LORIA, F-54000 Nancy, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"743","DOI":"10.1016\/S0140-6736(15)60692-4","article-title":"Global, regional, and national incidence, prevalence, and years lived with disability for 301 acute and chronic diseases and injuries in 188 countries, 1990\u20132013: A systematic analysis for the Global Burden of Disease Study 2013","volume":"386","author":"Vos","year":"2015","journal-title":"Lancet"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"13","DOI":"10.1016\/j.jelekin.2003.09.015","article-title":"Work-related musculoskeletal disorders: The epidemiologic evidence and the debate","volume":"14","author":"Punnett","year":"2004","journal-title":"J. Electromyogr. Kinesiol."},{"key":"ref_3","unstructured":"Schneider, E., Copsey, S., and Irastorza, X. (2010). Occupational Safety and Health in Figures: Work-Related Musculoskeletal Disorders in the EU-Facts and Figures, Office for Official Publications of the European Communities."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Shafti, A., Ataka, A., Lazpita, B., Shiva, A., Wurdemann, H., and Althoefer, K. (2019, January 20\u201324). Real-time robot-assisted ergonomics. Proceedings of the 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada.","DOI":"10.1109\/ICRA.2019.8793739"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"van der Spaa, L., Gienger, M., Bates, T., and Kober, J. (August, January 31). Predicting and optimizing ergonomics in physical human-robot cooperation tasks. Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France.","DOI":"10.1109\/ICRA40945.2020.9197296"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"91","DOI":"10.1016\/0003-6870(93)90080-S","article-title":"RULA: A survey method for the investigation of work-related upper limb disorders","volume":"24","author":"McAtamney","year":"1993","journal-title":"Appl. Ergon."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"201","DOI":"10.1016\/S0003-6870(99)00039-3","article-title":"Rapid entire body assessment (REBA)","volume":"31","author":"Hignett","year":"2000","journal-title":"Appl. Ergon."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1016\/0003-6870(77)90164-8","article-title":"Correcting working postures in industry: A practical method for analysis","volume":"8","author":"Karhu","year":"1977","journal-title":"Appl. Ergon."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Busch, B., Maeda, G., Mollard, Y., Demangeat, M., and Lopes, M. (2017, January 24\u201328). Postural optimization for an ergonomic human-robot interaction. Proceedings of the 2017 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada.","DOI":"10.1109\/IROS.2017.8206107"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Peternel, L., Kim, W., Babi\u010d, J., and Ajoudani, A. (2017, January 15\u201317). Towards ergonomic control of human-robot co-manipulation and handover. Proceedings of the 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), Birmingham, UK.","DOI":"10.1109\/HUMANOIDS.2017.8239537"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"68","DOI":"10.1109\/LRA.2017.2729666","article-title":"Anticipatory robot assistance for the prevention of human static joint overloading in human\u2013robot collaboration","volume":"3","author":"Kim","year":"2017","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"546","DOI":"10.1080\/0951192X.2019.1599432","article-title":"Assessing and improving human movements using sensitivity analysis and digital human simulation","volume":"32","author":"Maurice","year":"2019","journal-title":"Int. J. Comput. Integr. Manuf."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Latella, C., Kuppuswamy, N., Romano, F., Traversaro, S., and Nori, F. (2016). Whole-body human inverse dynamics with distributed micro-accelerometers, gyros and force sensing. Sensors, 16.","DOI":"10.3390\/s16050727"},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"14","DOI":"10.1109\/MRA.2018.2890460","article-title":"Adaptable workstations for human-robot collaboration: A reconfigurable framework for improving worker ergonomics and productivity","volume":"26","author":"Kim","year":"2019","journal-title":"IEEE Robot. Autom. Mag."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Kim, W., Lee, J., Tsagarakis, N., and Ajoudani, A. (2017, January 17\u201320). A real-time and reduced-complexity approach to the detection and monitoring of static joint overloading in humans. Proceedings of the 2017 International Conference on Rehabilitation Robotics (ICORR), London, UK.","DOI":"10.1109\/ICORR.2017.8009351"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1011","DOI":"10.1007\/s10514-017-9678-1","article-title":"Robot adaptation to human physical fatigue in human\u2013robot co-manipulation","volume":"42","author":"Peternel","year":"2018","journal-title":"Auton. Robot."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"152","DOI":"10.1109\/TNSRE.2019.2945368","article-title":"Objective and Subjective Effects of a Passive Exoskeleton on Overhead Work","volume":"28","author":"Maurice","year":"2020","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"ref_18","unstructured":"Mandery, C., Plappert, M., Borras, J., and Asfour, T. (2016, January 5\u20138). Dimensionality reduction for whole-body human motion recognition. Proceedings of the 2016 19th International Conference on Information Fusion (FUSION), Heidelberg, Germany."},{"key":"ref_19","unstructured":"Chaveroche, M., Malais\u00e9, A., Colas, F., Charpillet, F., and Ivaldi, S. (2018). A Variational Time Series Feature Extractor for Action Prediction. arXiv."},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Marin, A.G., Shourijeh, M.S., Galibarov, P.E., Damsgaard, M., Fritzsch, L., and Stulp, F. (2018, January 1\u20135). Optimizing contextual ergonomics models in human-robot interaction. Proceedings of the 2018 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain.","DOI":"10.1109\/IROS.2018.8594132"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Dermy, O., Chaveroche, M., Colas, F., Charpillet, F., and Ivaldi, S. (2018, January 6\u20139). Prediction of human whole-body movements with AE-ProMPs. Proceedings of the 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China.","DOI":"10.1109\/HUMANOIDS.2018.8624986"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"1132","DOI":"10.1109\/LRA.2019.2894389","article-title":"Activity Recognition for Ergonomics Assessment of Industrial Tasks With Automatic Feature Selection","volume":"4","author":"Maurice","year":"2019","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_23","unstructured":"Ghojogh, B., Ghodsi, A., Karray, F., and Crowley, M. (2021). Factor analysis, probabilistic principal component analysis, variational inference, and variational autoencoder: Tutorial and survey. arXiv."},{"key":"ref_24","unstructured":"Dilokthanakul, N., Mediano, P.A., Garnelo, M., Lee, M.C., Salimbeni, H., Arulkumaran, K., and Shanahan, M. (2016). Deep unsupervised clustering with gaussian mixture variational autoencoders. arXiv."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Ikemoto, S., Amor, H.B., Minato, T., Ishiguro, H., and Jung, B. (October, January 27). Physical interaction learning: Behavior adaptation in cooperative human-robot tasks involving physical contact. Proceedings of the RO-MAN 2009\u2014The 18th IEEE International Symposium on Robot and Human Interactive Communication, Toyama, Japan.","DOI":"10.1109\/ROMAN.2009.5326164"},{"key":"ref_26","doi-asserted-by":"crossref","unstructured":"Liu, Z., Wu, S., Jin, S., Liu, Q., Ji, S., Lu, S., and Cheng, L. (2022). Investigating Pose Representations and Motion Contexts Modeling for 3D Motion Prediction. IEEE Trans. Pattern Anal. Mach. Intell., Available online: https:\/\/www.researchgate.net\/publication\/357526473_Investigating_Pose_Representations_and_Motion_Contexts_Modeling_for_3D_Motion_Prediction.","DOI":"10.1109\/TPAMI.2021.3139918"},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"40","DOI":"10.1145\/3386569.3392422","article-title":"Character controllers using motion vaes","volume":"39","author":"Ling","year":"2020","journal-title":"ACM Trans. Graph. (TOG)"},{"key":"ref_28","doi-asserted-by":"crossref","unstructured":"Li, J., Villegas, R., Ceylan, D., Yang, J., Kuang, Z., Li, H., and Zhao, Y. (2021, January 1\u20133). Task-generic hierarchical human motion prior using vaes. Proceedings of the 2021 International Conference on 3D Vision (3DV), Online.","DOI":"10.1109\/3DV53792.2021.00086"},{"key":"ref_29","doi-asserted-by":"crossref","unstructured":"Meng, X., and Weitschat, R. (June, January 30). Dynamic Projection of Human Motion for Safe and Efficient Human-Robot Collaboration. Proceedings of the 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi\u2019an, China.","DOI":"10.1109\/ICRA48506.2021.9561726"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"1529","DOI":"10.1177\/0278364919882089","article-title":"Human movement and ergonomics: An industry-oriented dataset for collaborative robotics","volume":"38","author":"Maurice","year":"2019","journal-title":"Int. J. Robot. Res."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1016\/j.jbiomech.2017.04.025","article-title":"Validation of the AnyBody full body musculoskeletal model in computing lumbar spine loads at L4L5 level","volume":"58","author":"Bassani","year":"2017","journal-title":"J. Biomech."},{"key":"ref_32","doi-asserted-by":"crossref","unstructured":"Maurice, P., Padois, V., Measson, Y., and Bidaud, P. (2019). Digital human modeling for collaborative robotics. DHM and Posturography, Elsevier.","DOI":"10.1016\/B978-0-12-816713-7.00060-X"},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"218","DOI":"10.1080\/10803548.2017.1306960","article-title":"Comparisons of ergonomic evaluation tools (ALLA, RULA, REBA and OWAS) for farm work","volume":"24","author":"Kong","year":"2018","journal-title":"Int. J. Occup. Saf. Ergon."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"462","DOI":"10.1109\/70.388791","article-title":"Robot manipulability","volume":"11","author":"Doty","year":"1995","journal-title":"IEEE Trans. Robot. Autom."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1109\/TOH.2014.2371025","article-title":"Analysis of operational comfort in manual tasks using human force manipulability measure","volume":"8","author":"Tanaka","year":"2014","journal-title":"IEEE Trans. Haptics"},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"1591","DOI":"10.1007\/s10514-018-9808-4","article-title":"Towards real-time whole-body human dynamics estimation through probabilistic sensor fusion algorithms","volume":"43","author":"Latella","year":"2019","journal-title":"Auton. Robot."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"657","DOI":"10.1016\/j.cirp.2012.05.010","article-title":"Augmented reality applications in design and manufacturing","volume":"61","author":"Nee","year":"2012","journal-title":"CIRP Ann."},{"key":"ref_38","unstructured":"Malais\u00e9, A., Maurice, P., Colas, F., Charpillet, F., and Ivaldi, S. (2018, January 25\u201329). Activity recognition with multiple wearable sensors for industrial applications. Proceedings of the ACHI 2018-Eleventh International Conference on Advances in Computer-Human Interactions, Rome, Italy."},{"key":"ref_39","first-page":"1","article-title":"How generative adversarial networks and their variants work: An overview","volume":"52","author":"Hong","year":"2019","journal-title":"ACM Comput. Surv. (CSUR)"},{"key":"ref_40","doi-asserted-by":"crossref","unstructured":"Meng, Q., Catchpoole, D., Skillicom, D., and Kennedy, P.J. (2017, January 14\u201319). Relational autoencoder for feature extraction. Proceedings of the 2017 International Joint Conference on Neural Networks (IJCNN), Anchorage, AK, USA.","DOI":"10.1109\/IJCNN.2017.7965877"},{"key":"ref_41","unstructured":"Albu-Schaffer, A., Ott, C., Frese, U., and Hirzinger, G. (2003, January 14\u201319). Cartesian impedance control of redundant robots: Recent results with the DLR-light-weight-arms. Proceedings of the 2003 IEEE International conference on robotics and automation (Cat. No. 03CH37422), Taipei, Taiwan."},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"500","DOI":"10.21105\/joss.00500","article-title":"Dart: Dynamic animation and robotics toolkit","volume":"3","author":"Lee","year":"2018","journal-title":"J. Open Source Softw."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"342","DOI":"10.1109\/LRA.2021.3125058","article-title":"Multi-Objective Trajectory Optimization to Improve Ergonomics in Human Motion","volume":"7","author":"Gomes","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"6046","DOI":"10.1109\/LRA.2021.3086666","article-title":"Human Posture Prediction during Physical Human-Robot Interaction","volume":"6","author":"Vianello","year":"2021","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_45","unstructured":"Gomes, W., Maurice, P., Dalin, E., Mouret, J.B., and Ivaldi, S. (2021, January 24\u201328). Improving Ergonomics at Work with Personalized Multi-Objective Optimization of Human Movements. Proceedings of the 12th International Conference on Applied Human Factors and Ergonomics, New York, NY, USA."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/11\/3981\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T23:17:47Z","timestamp":1760138267000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/22\/11\/3981"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,5,24]]},"references-count":45,"journal-issue":{"issue":"11","published-online":{"date-parts":[[2022,6]]}},"alternative-id":["s22113981"],"URL":"https:\/\/doi.org\/10.3390\/s22113981","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,5,24]]}}}